Revision 3:ced71d1b2558, committed 2011-04-10

Comitter:

chris

Date:

Sun Apr 10 21:20:44 2011 +0000

Parent:

2:5ea99c37a2d7

Commit message:

Added baud rate function to the AX12 class

Changed in this revision

diff -r 5ea99c37a2d7 -r ced71d1b2558 AX12.cpp
--- a/AX12.cpp	Sun Apr 10 20:58:21 2011 +0000
+++ b/AX12.cpp	Sun Apr 10 21:20:44 2011 +0000
@@ -159,6 +159,21 @@
 }
 
 
+int AX12::SetBaud (int baud) {
+
+    char data[1];
+    data[0] = baud;
+
+#ifdef AX12_DEBUG
+    printf("Setting Baud rate to %d\n",baud);
+#endif
+
+    return (write(0xFE, AX12_REG_BAUD, 1, data));
+
+}
+
+
+
 // return 1 is the servo is still in flight
 int AX12::isMoving(void) {
 

diff -r 5ea99c37a2d7 -r ced71d1b2558 AX12.h
--- a/AX12.h	Sun Apr 10 20:58:21 2011 +0000
+++ b/AX12.h	Sun Apr 10 21:20:44 2011 +0000
@@ -32,6 +32,7 @@
 //#define AX12_DEBUG 0
 
 #define AX12_REG_ID 0x3
+#define AX12_REG_BAUD 0x4
 #define AX12_REG_CW_LIMIT 0x06
 #define AX12_REG_CCW_LIMIT 0x08
 #define AX12_REG_GOAL_POSITION 0x1E
@@ -86,6 +87,21 @@
      */
     int SetMode(int mode);
 
+    /** Set baud rate of all attached servos
+     * @param mode
+     *    0x01 = 1,000,000 bps
+     *    0x03 =   500,000 bps
+     *    0x04 =   400,000 bps
+     *    0x07 =   250,000 bps
+     *    0x09 =   200,000 bps
+     *    0x10 =   115,200 bps
+     *    0x22 =    57,600 bps
+     *    0x67 =    19,200 bps
+     *    0xCF =     9,600 bp
+     */
+    int SetBaud(int baud);
+
+
     /** Set goal angle in integer degrees, in positional mode
      *
      * @param degrees 0-300